From 560e9b54ddb748c7835b8bc6791feb1fffb187a1 Mon Sep 17 00:00:00 2001
From: Leni Aniva <v@leni.sh>
Date: Fri, 19 Jul 2024 16:37:47 -0700
Subject: [PATCH] feat: Child guard to prevent collision in shoulder

---
 nhf/touhou/houjuu_nue/joints.py | 50 +++++++++++++++++++++++----------
 nhf/touhou/houjuu_nue/wing.py   |  2 +-
 2 files changed, 36 insertions(+), 16 deletions(-)

diff --git a/nhf/touhou/houjuu_nue/joints.py b/nhf/touhou/houjuu_nue/joints.py
index dc52908..57e80c9 100644
--- a/nhf/touhou/houjuu_nue/joints.py
+++ b/nhf/touhou/houjuu_nue/joints.py
@@ -252,14 +252,19 @@ class ShoulderJoint(Model):
     parent_lip_ext: float = 40.0
     parent_lip_guard_height: float = 8.0
 
-    # Measured from centre of axle
-    child_lip_length: float = 45.0
+    # Generates a child guard which covers up the internals. The lip length is
+    # relative to the +X surface of the guard.
+    child_guard_ext: float = 30.0
+    child_guard_width: float = 25.0
+    # guard length measured from axle
+    child_lip_length: float = 40.0
     child_lip_width: float = 20.0
     child_conn_hole_diam: float = 6.0
     # Measured from centre of axle
-    child_conn_hole_pos: list[float] = field(default_factory=lambda: [25, 35])
+    child_conn_hole_pos: list[float] = field(default_factory=lambda: [15, 25])
     child_core_thickness: float = 3.0
 
+
     # Rotates the torsion joint to avoid collisions or for some other purpose
     axis_rotate_bot: float = 225.0
     axis_rotate_top: float = -225.0
@@ -345,7 +350,6 @@ class ShoulderJoint(Model):
         """
 
         joint = self.torsion_joint
-        assert all(r > joint.radius_rider for r in self.child_conn_hole_pos)
         assert all(r < self.child_lip_length for r in self.child_conn_hole_pos)
 
         # Half of the height of the bridging cylinder
@@ -371,6 +375,30 @@ class ShoulderJoint(Model):
             .assemble()
             .circle(radius_core_inner, mode='s')
         )
+        core_guard = (
+            Cq.Workplane('XY')
+            .box(
+                length=self.child_guard_ext,
+                width=self.child_guard_width,
+                height=self.height,
+                centered=(False, True, True),
+            )
+            .copyWorkplane(Cq.Workplane('XY'))
+            .cylinder(
+                radius=self.radius,
+                height=self.height,
+                combine='cut',
+                centered=True,
+            )
+            .copyWorkplane(Cq.Workplane('XY'))
+            .box(
+                length=self.child_guard_ext,
+                width=self.child_lip_width,
+                height=self.height - self.torsion_joint.total_height * 2,
+                combine='cut',
+                centered=(False, True, True),
+            )
+        )
         core = (
             Cq.Workplane('XY')
             .placeSketch(core_profile1)
@@ -381,6 +409,7 @@ class ShoulderJoint(Model):
             .toPending()
             .extrude(dh * 2)
             .translate(Cq.Vector(0, 0, -dh))
+            .union(core_guard)
         )
         assert self.child_lip_width / 2 <= joint.radius_rider
         lip_thickness = joint.rider_disk_height
@@ -391,15 +420,6 @@ class ShoulderJoint(Model):
             hole_loc=self.child_conn_hole_pos,
             hole_diam=self.child_conn_hole_diam,
         )
-        lip = (
-            lip
-            .copyWorkplane(Cq.Workplane('XY'))
-            .cylinder(
-                radius=joint.radius_rider,
-                height=lip_thickness,
-                centered=(True, True, False),
-                combine='cut')
-        )
         theta = self.torsion_joint.spring.angle_neutral - self.torsion_joint.rider_slot_span
         loc_rotate = Cq.Location((0, 0, 0), (1, 0, 0), 180)
         loc_axis_rotate_bot = Cq.Location((0, 0, 0), (0, 0, 1), self.axis_rotate_bot + self.angle_neutral)
@@ -412,9 +432,9 @@ class ShoulderJoint(Model):
             .add(joint.rider(rider_slot_begin=180), name="rider_bot",
                  loc=loc_axis_rotate_bot * Cq.Location((0, 0, -dh), (0, 0, 1), -90) * loc_rotate)
             .add(lip, name="lip_top",
-                 loc=Cq.Location((0, 0, dh)))
+                 loc=Cq.Location((self.child_guard_ext, 0, dh)))
             .add(lip, name="lip_bot",
-                 loc=Cq.Location((0, 0, -dh)) * loc_rotate)
+                 loc=Cq.Location((self.child_guard_ext, 0, -dh)) * loc_rotate)
         )
         return result
 
diff --git a/nhf/touhou/houjuu_nue/wing.py b/nhf/touhou/houjuu_nue/wing.py
index 03f0fd9..c5bd232 100644
--- a/nhf/touhou/houjuu_nue/wing.py
+++ b/nhf/touhou/houjuu_nue/wing.py
@@ -96,7 +96,7 @@ class WingProfile(Model):
 
         self.shoulder_joint.angle_neutral = -self.shoulder_angle_neutral - self.shoulder_angle_bias
         self.shoulder_axle_loc = Cq.Location.from2d(self.shoulder_tip_x, self.shoulder_tip_y - self.shoulder_width / 2, self.shoulder_angle_bias)
-
+        self.shoulder_joint.child_guard_width = self.s1_thickness + self.panel_thickness * 2
         assert self.spacer_thickness == self.root_joint.child_mount_thickness
 
     @submodel(name="shoulder-joint")